WO2022210461A1

WO2022210461A1 - Robot

Info

Publication number: WO2022210461A1
Application number: PCT/JP2022/014785
Authority: WO
Inventors: 俊平林
Original assignee: 株式会社神戸製鋼所
Priority date: 2021-03-30
Filing date: 2022-03-28
Publication date: 2022-10-06
Also published as: JP2022153812A

Abstract

This robot comprises: a first member; a second member; a joint part; a linear motor having a long element having a shape extending in one direction, and a short element which can move along the long element; and a link member having a second end section rotatably coupled to the second member and a first end section rotatably coupled to the short element. The robot generates a moment around the joint part to the second member via the link member by causing the short element to move due to the power supply to the linear motor, and thereby generates relative rotation movements of the first member and the second member.

Description

robot

The present invention relates to robots.

Conventionally, as disclosed in Patent Literature 1 below, there has been known a robot including a first member (for example, an upper arm), a second member (for example, a forearm), and a joint that connects the two members to each other. there is A motor and a speed reducer are provided in the joint, and the driving force generated by the motor causes the second member to rotate with respect to the first member via the speed reducer.

In the robot disclosed in Patent Literature 1, a motor is provided in the joint section to generate a driving force that causes relative rotation between the first member and the second member. Therefore, when the motor is driven with a load applied to the tip of the second member, which is the forearm, it is necessary to generate a large torque. In other words, it is necessary to generate large torque in order to generate torque in the vicinity of the relative rotation center of the first member and the second member. Therefore, in the robot disclosed in Patent Literature 1, it is necessary to use a motor that generates a large torque in anticipation of the load applied to the tip of the forearm.

Japanese Patent Publication No. 2020-508035

An object of the present invention is to cause relative rotation between the first member and the second member with a smaller torque.

The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a shape that extends in one direction, and the first member a linear motion electric motor having a long element arranged in a body and a short element movable along the long element; and a link member having one end coupled to the short member and the other end rotatably coupled to the short member, and the short member is moved relative to the long member by power supply to the linear motion motor. In the robot, the second member is caused to generate a moment around the joint portion through the link member by causing the second member to generate a relative rotational movement between the first member and the second member.

The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a portion having a shape extending in one direction. A first linear motion motor having a first long element arranged on one member and a first short element relatively movable with respect to the first long element along the portion of the first long element a second long element having a portion extending along the second member; a second short element relatively movable with respect to the second long element along the portion of the second long element; and a link member having one end rotatably coupled to the first short element and the other end rotatably coupled to the second short element, wherein By supplying power to the first linear motion motor and the second linear motion motor, the first short member moves relative to the first long member, and the second short member moves relative to the second long member. It is a robot which produces relative rotation operation between said 1st member and said 2nd member by relative movement.

The present invention includes a first member, a second member, a joint portion that couples the first member and the second member so as to be relatively rotatable, and a first short member arranged on the first member. and a first elongated element having a shape elongated in one direction and having a plurality of teeth arranged in the one direction and arranged on the first member, wherein the first short element and the base a first linear motion motor in which relative movement between one short element is allowed; a second long element having a portion extending along the second member and arranged on the second member; a second linear motor having a second short element that is relatively movable with respect to the second long element along the portion of the long element; and meshing with the plurality of teeth of the first long element. A pinion that is provided at the joint and rotates by movement of the first elongated element, a rotating member that has a tooth portion that meshes with the pinion and is fixed to the second member, and the first elongated element. a link member having one end rotatably coupled and the other end rotatably coupled to the second short element, wherein the first short element is fixed to the first member; When power is supplied to the first direct-acting motor, the first long member is moved with respect to the first short member, and the joint portion is moved to the second member via the pinion and the rotating member. creating a moment of rotation to create a relative pivoting motion between the first member and the second member, the first elongated member being fixed to the first member and the second elongated member being the When power is supplied to the first linear motion motor and the second linear motion motor while being fixed to the second member, the first short member is moved relative to the first long member and the second short member is moved. By moving the scale with respect to the second elongated member, a moment around the joint portion is generated in the second member via the link member, and the relative rotation between the first member and the second member is performed. It is a robot that produces motion.

It is a figure which shows the robot based on 1st Embodiment. It is a figure for demonstrating the structure of the direct-acting motor provided in the said robot. It is a figure for demonstrating the structure of the modification of the direct-acting motor provided in the said robot. It is a figure for demonstrating the motion of the said robot. It is a figure for demonstrating the motion of the said robot. It is a figure for demonstrating the motion of the said robot. It is a figure which shows the robot based on the modification of 1st Embodiment. It is a figure explaining a motion of the robot which concerns on 2nd Embodiment. It is a figure explaining a motion of the robot which concerns on 2nd Embodiment. It is a figure explaining a motion of the robot which concerns on 2nd Embodiment. It is a figure explaining a motion of the robot based on 3rd Embodiment. It is a figure explaining a motion of the robot based on 3rd Embodiment. It is a figure explaining a motion of the robot based on 4th Embodiment. It is a figure explaining a motion of the robot based on 4th Embodiment. It is a figure explaining a motion of the robot based on 4th Embodiment. It is a figure explaining a motion of the robot based on 5th Embodiment. It is a figure explaining a motion of the robot based on 5th Embodiment. It is a figure explaining a motion of the robot based on 5th Embodiment.

embodiment

Embodiments will be described below with reference to the accompanying drawings. It should be noted that the following embodiment is an example that embodies the present invention, and is not intended to limit the technical scope of the present invention.

(First embodiment)
As shown in FIG. 1, the robot 10 according to the first embodiment includes a first member 11, a second member 12, and a joint portion 13 that rotatably couples the first member 11 and the second member 12 to each other. , is equipped with Although both the first member 11 and the second member 12 are formed of arm-shaped members, they are not limited to this. The robot 10 may be configured, for example, as part of a humanoid robot, or as part of an articulated six-axis robot. If the robot 10 is part of a humanoid robot, for example, the first member 11 may constitute the upper arm and the second member 12 may constitute the forearm. Alternatively, the first member 11 may constitute the forearm and the second member 12 may constitute the upper arm. Alternatively, the first member 11 may constitute the trunk and the second member 12 may constitute the upper arm. Alternatively, the first member 11 may constitute the upper arm and the second member 12 may constitute the trunk. FIG. 1 illustrates a case where the first member 11 constitutes an upper arm and the second member 12 constitutes a forearm, and an end effector 14 is provided at the tip of the second member 12 .

The joint portion 13 has a first portion (not shown) coupled to the first member 11 and a second portion coupled to the second member 12 . The first section and the second section are rotatably coupled to each other.

A direct-acting motor 21 is arranged on the first member 11 . The linear motion motor 21 has a long element 21 a fixed to the first member 11 and a short element 21 b that moves with respect to the long element 21 a by the action of electromagnetic force accompanying power supply to the linear motion motor 21 . The elongated element 21 a has a shape linearly extending in one direction, and this extending direction passes through a position shifted from the rotation axis 13 a of the joint portion 13 . However, it is not limited to this, and the elongated element 21a may be arranged so as to extend in the radial direction of the rotation axis 13a of the joint portion 13 so as to pass through the rotation axis 13a.

As shown in FIG. 2 , the long element 21 a may be composed of a plurality of armatures 23 and the short element 21 b may be composed of a plurality of magnetic pole elements 24 . Alternatively, as shown in FIG. 3 , the long element 21 a may be composed of a plurality of magnetic pole elements 24 and the short element 21 b may be composed of a plurality of armatures 23 .

In the configuration shown in FIG. 2, a large number of armatures 23 having coils (not shown) are arranged so as to line up in one direction, so that the elongated element 21a is formed in a shape extending along the direction in which the first member 11 extends. be. The short element 21b has a plurality of magnetic pole elements 24 arranged such that the N poles and the S poles are alternated. By supplying power to the armature 23, magnetic lines of force are generated that pass through the magnetic pole piece 24 and the short piece 21b, causing the short piece 21b to slide along the long piece 21a. The direct-acting motor 21 having the configuration shown in FIG. 2 is composed of, for example, a brushless motor, an induction motor, or the like.

On the other hand, in the configuration shown in FIG. 3, the elongated element 21a has a configuration in which a large number of magnetic pole elements 24 are arranged in one direction with the N poles and S poles alternated. The short element 21b is configured to have a plurality of armatures 23 having coils. By supplying power to the armature 23, magnetic lines of force M are generated that pass through the magnetic pole piece 24 and the short piece 21b, causing the short piece 21b to slide along the long piece 21a. The direct-acting motor 21 having the configuration shown in FIG. 3 is configured by, for example, a DC motor or the like that supplies power through brushes (not shown).

Return to Figure 1. As shown in FIG. 1, a fixed member 27 is fixed to the second member 12, and the robot 10 is provided with a link member 29 that connects the fixed member 27 and the short element 21b.

The fixing member 27 includes a long portion 27a extending from the rotation axis 13a of the joint portion 13 along the radial direction of the rotation axis 13a, and a protruding portion protruding in the rotation direction from the radial outer end of the long portion 27a. 27b and are integrally formed. The elongated portion 27a is not limited to a shape extending linearly in the radial direction of the rotation axis 13a, and may be formed in a curved shape so as to deviate from the radial direction. In this case, the projecting portion 27b may be omitted. Moreover, even when the long portion 27a is formed in a straight line, the projecting portion 27b may be omitted.

The link member 29 is configured by a rod-shaped member extending linearly, and one end of the link member 29 (second end 29b, which is the end on the second member 12 side) is the projecting portion 27b of the fixing member 27 . is rotatably coupled to the That is, the link member 29 is indirectly connected to the second member 12 . The other end of the link member 29 (first end 29a, which is the end on the first member 11 side) is rotatably coupled to the short member 21b. Note that if the projecting portion 27b is omitted, one end of the link member 29 is rotatably coupled to the elongated portion 27a of the fixing member 27. As shown in FIG.

Here, the motion of the robot 10 will be described with reference to FIGS. 4A to 4C. In FIG. 4A, in the first member 11 at the 12 o'clock position, the extension line of the long element 21a is shifted to the left side of the drawing with respect to the rotation axis 13a, and the outer end of the second member 12 is located at the long element 21a. (7 o'clock position). At this time, the short element 21b is positioned near the inner end of the long element 21a. In this state, when power is supplied to the linear motor 21 so as to move the short element 21b radially inward along the long element 21a, the angle formed by the first member 11 and the second member 12 is 180 degrees. A moment around the joint portion 13 is generated in the second member 12 via the link member 29 in the direction of approaching . As a result, the second member 12 rotates counterclockwise from the state shown in FIG. 4A.

When the short element 21b reaches the inner end of the long element 21a, the second member 12 is oriented about 180 degrees with respect to the first member 11. At this time, the power supply of the linear motion motor 21 is controlled so that the short element 21b moves radially outward. As a result, the short element 21b begins to slide radially outward along the long element 21a. At this time as well, the second member 12 continues to rotate counterclockwise. When the short element 21b slides further, the second member 12 can take the posture shown in FIG. 4B (4 o'clock position) and the posture shown in FIG. 4C (2 o'clock position). At this time, the second end portion 29b of the link member 29 draws a circular locus t1 (see FIG. 1) centered on the rotation axis 13a, and the first end portion 29a of the link member 29 draw a linear trajectory t2 (see FIG. 1) along . That is, the long element 21a, the short element 21b, the fixing member 27, and the link member 29 constitute a crank mechanism that converts motion between reciprocating linear motion and circular motion.

As described above, in the present embodiment, power is supplied to the direct-acting electric motor 21 having the elongated member 21 a arranged on the first member 11 , so that the second member 12 rotates the joint portion 13 via the link member 29 . to produce a relative pivoting motion between the first member 11 and the second member 12 . Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion 13, relative rotational movement between the first member 11 and the second member 12 can be generated with a smaller torque. Moreover, since the direct-acting motor 21 is arranged in the first member 11 and is not housed in the joint portion 13, an increase in the size of the joint portion 13 can be avoided.

Although the robot 10 shown in FIG. 1 has the fixing member 27 fixed to the second member 12 and the second end 29b of the link member 29 is coupled to the fixing member 27, the configuration is not limited to this. For example, the fixing member 27 may be omitted and the second end 29b of the link member 29 may be directly coupled to the second member 12. FIG.

As shown in FIG. 5, the fixing member 27 has an inwardly extending portion 27c extending from the projecting portion 27b toward the joint portion 13, and the link member 29 is provided at the tip of the inwardly extending portion 27c. They may be rotatably connected. In this case, the radius of the circular locus t1 drawn by the second end portion 29b of the link member 29 can be reduced. Therefore, the ratio of the rotation angle to the amount of sliding of the short element 21b can be increased.

Instead of the configuration in which the fixing member 27 has the inwardly extending portion 27c, a configuration in which the protruding portion 27b protrudes in the rotation direction from the inner end portion of the long portion 27a or the vicinity of the inner end portion may be employed.

(Second embodiment)
Figures 6A-6C show a second embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.

In the robot 10 of the first embodiment, the fixed member 27 is configured by a member fixed to the second member 12, whereas in the second embodiment, the fixed member 27 is provided on the second member 12. A second elongated member 33 fixed to a second elongated member 31 a of the second direct-acting motor 31 . The second long member 33 extends in a direction crossing the direction in which the second long member 31a extends.

The second direct-acting motor 31 moves along the second elongated element 31a due to the action of the second elongated element 31a fixed to the second member 12 and the electromagnetic force accompanying the power supply to the second linear-acting motor 31. and a second short element 31b. The second linear motion motor 31 has the same configuration as the linear motion motor 21 shown in FIG. 1, and has a plurality of armatures and a plurality of magnetic poles.

The long element 21a of the linear motion motor 21 is arranged so as to extend in the radial direction of the rotation axis 13a so as to pass through the rotation axis 13a of the joint portion 13. At one end of the long element 21a, a first An elongated member 35 is fixed. The elongated element 21a may be arranged so that its extension line passes through a position shifted from the rotation axis 13a, and in this case, the first elongated element member 35 may be omitted.

The second elongated element 31a also has the same configuration as the elongated element 21a. That is, the second long member 31a is arranged to extend in the radial direction of the rotation axis 13a, and the second long member 33 is fixed to one end of the second long member 31a. The second elongated member 31a may be arranged so that its extension line passes through a position shifted from the rotation axis 13a, and in this case, the second elongated member 33 may be omitted.

A first end 29a of the link member 29 (the end on the first member 11 side) is rotatably coupled to the short element 21b of the linear motion motor 21, and a second end 29b of the link member 29 (the second member 12 side) is rotatably coupled to the second elongated member 33 . The connecting position between the first end portion 29a of the link member 29 and the short element 21b is arranged so that the extension of the displacement locus t3 when the short element 21b is slid passes through a position shifted from the rotation axis 13a. , the extension of the displacement locus t3 may be arranged to pass through the rotation axis 13a. The second end portion 29 b of the link member 29 may be coupled to the second member 12 or may be coupled to the second elongated element 31 a of the second linear motion motor 31 . The second end portion 29b is arranged at a position shifted from the extension line of the second long element 31a, but may be arranged on the extension line of the second long element 31a.

A second link member 37 is provided in addition to the link member 29 in the robot 10 of the second embodiment. One end of the second link member 37 (second end 37b, which is the end on the second member 12 side) is rotatably coupled to the second short member 31b. The connecting position between the second end portion 37b of the second link member 37 and the second short element 31b is the position where the extension of the displacement locus t4 during sliding of the second short element 31b deviates from the rotation axis 13a. Although it is arranged so as to pass through, the extension line of the displacement locus t4 may be arranged so as to pass through the rotation axis 13a.

The other end of the second link member 37 (the first end 37a that is the end on the first member 11 side) is rotatably coupled to the first long member 35 . The first end portion 37 a of the second link member 37 may be coupled to the first member 11 or may be coupled to the elongated member 21 a of the linear motion motor 21 . The first end portion 37a is arranged at a position shifted from the extension line of the long element 21a, but may be arranged on the extension line of the long element 21a.

The linear motion motor 21 and the second linear motion motor 31 are interlocked. That is, the linear motion motor 21 and the second linear motion motor 31 are driven simultaneously when the first member 11 and the second member 12 are relatively rotated. However, the timing at which the short element 21b reverses the sliding direction and the timing at which the second short element 31b reverses the sliding direction are different from each other. That is, the timing at which the link member 29 and the second long member 33 are aligned (the timing at which the second short member 31b passes through the dead center) and the timing at which the second link member 37 and the first long member 35 are aligned. (the timing at which the short element 21b passes through the dead center) is different from each other. Therefore, even when one of the link member 29 and the second link member 37 is dead center, the moment around the joint portion 13 can be continuously generated.

FIG. 6A shows a state in which the first member 11 and the second member 12 are substantially aligned (approximately 180 degrees). The scale 21b and the second short scale 31b are slid away from the joint 13. As shown in FIG. As a result, a moment around the joint portion 13 is generated in the first member 11 and the second member 12 in the direction in which the angle formed by the elongated member 21a and the second elongated member 31a becomes smaller. A relative pivotal movement between the members 12 is produced. 6B. When the posture is further rotated from this posture, the second link member 37 and the first long member 35 first become straight, so that the second short member 31b is positioned at the dead point. Become. At this time as well, the link member 29 and the second elongated member 33 have not yet formed a straight line, so the first member 11 and the second member 12 continue to generate a moment around the joint portion 13 . Therefore, the relative rotational movement between the first member 11 and the second member 12 continues. The power of the second direct-acting motor 31 is controlled so that the sliding direction of the second short member 31b is reversed when the second link member 37 and the first long member 35 are aligned.

After that, when the relative rotation between the first member 11 and the second member 12 is continued, the link member 29 and the second long member 33 are linearly formed, so that the short member 21b position of the dead point. At this time, since the second link member 37 and the first elongated member 35 are not aligned, a moment around the joint portion 13 is continuously generated in the first member 11 and the second member 12 . Therefore, the relative rotational movement between the first member 11 and the second member 12 continues. The power of the linear motion motor 21 is controlled so that the sliding direction of the short member 21b is reversed at the timing when the link member 29 and the second long member 33 are aligned. Then, when the short elements 21b and the second short elements 31b are slid toward the joints 35, they assume the posture shown in FIG. 6C.

In the second embodiment, since the linear motion motor 21 and the second linear motion motor 31 are used to cause the relative rotational movement between the first member 11 and the second member 12, the

linear motion motors

21 and 31 are Torque can be further suppressed, and the direct-acting motor 21 can be made more compact.

Also, the timing at which the short element 21b passes through the dead point and the timing at which the second short element 31b passes through the dead point are different from each other. That is, the second short element 31b is not at the dead point at the timing when the short element 21b passes through the dead center. Moreover, the short element 21b is not at the dead point at the timing when the second short element 31b passes through the dead point. Therefore, even when the short element 21b is at the dead point, the rotation operation between the first member 11 and the second member 12 via the link member 29 can be continued, and the second short element 31b is at the dead point. , the rotational movement between the first member 11 and the second member 12 via the second link member 37 can be continued. Therefore, the rotating motion between the first member 11 and the second member 12 can be a series of continuous motions.

(Third embodiment)
7A and 7B show a third embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.

A robot 40 of the third embodiment includes a first linear motion motor 21, a second linear motion motor 31, and a link member 42. The first linear motion motor 21 is driven by a first elongated member 21 a fixed to the first member 11 and by the action of an electromagnetic force associated with power supply to the first linear motion motor 21 . and a first short element 21b that moves along the long element 21a. The first linear motion motor 21 has a configuration similar to that of the linear motion motor 21 shown in FIG. The first elongated element 21a has a shape extending linearly in one direction, and the direction in which the first elongated element 21a extends may pass through the rotation axis 13a of the joint section 13, or may deviate from the rotation axis 13a. may be

The second linear motion motor 31 is driven by a second elongated member 31 a fixed to the second member 12 and by the action of the electromagnetic force associated with power supply to the second linear motion motor 31 . and a second short element 31b that moves along the long element 31a. The second linear motion motor 31 has the same configuration as the linear motion motor 21 shown in FIG. 1, and has a plurality of armatures and a plurality of magnetic poles. The second long element 31a has a shape that extends linearly in one direction, and the direction in which the second long element 31a extends may pass through the rotation axis 13a of the joint portion 13, or may deviate from the rotation axis 13a. may be

The link member 42 connects the first short element 21b and the second short element 31b to each other. That is, the first end portion 42a of the link member 42 (the end portion on the first member 11 side) is rotatably coupled to the first short element 21b, and the second end portion 42b of the link member 42 (the second member 12 side end) is rotatably coupled to the second short element 31b.

The first linear motion motor 21 and the second linear motion motor 31 are interlocked. That is, the first direct-acting motor 21 and the second direct-acting motor 31 are simultaneously driven when the first member 11 and the second member 12 perform the relative rotation motion. When the first short element 21b and the second short element 31b are slid in the direction away from the joint part 13, the first member 11 and the second long element 31a move in the direction of decreasing the angle formed by the first long element 21a and the second long element 31a. A moment around the joint portion 13 is generated in the member 12 . This causes a relative pivotal movement between the first member 11 and the second member 12, changing the posture shown in FIG. 7A to the posture shown in FIG. 7B.

On the other hand, when the first short element 21b and the second short element 31b are slid toward the joint portion 13, the first member 11 moves in the direction in which the angle formed by the first long element 21a and the second long element 31a increases. And a moment around the joint portion 13 is generated in the second member 12 . This causes a relative pivotal movement between the first member 11 and the second member 12, changing the posture shown in FIG. 7B to the posture shown in FIG. 7A.

In the third embodiment, when power is supplied to the first linear motion motor 21 and the second linear motion motor 31 to slide the first short member 21b and the second short member 31b, the first member 11 is moved by the link member 42. A force acts to change the opening angle between and the second member 12 , thereby causing a relative pivotal movement between the first member 11 and the second member 12 . Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion 13, relative rotational movement between the first member 11 and the second member 12 can be generated with a smaller torque. Moreover, the linear motion motor 21 is arranged in the first member 11 and the second linear motion motor 31 is arranged in the second member 12, so that the two

linear motion motors

21 and 31 are accommodated in the joint portion 13. Since it is not a structure, an increase in size of the joint portion 13 can be avoided.

Although descriptions of other configurations, functions and effects are omitted, the descriptions of the first and second embodiments can be incorporated into the third embodiment.

(Fourth embodiment)
Figures 8A and 8B show a fourth embodiment. Here, the same reference numerals are given to the same components as in the third embodiment, and detailed description thereof will be omitted.

In the robot 40 of the third embodiment, the first elongated element 21a is fixed to the first member 11 so as not to be displaced with respect to the first member 11, and the second elongated element 31a is displaced with respect to the second member 12. It is fixed to the second member 12 so that it does not. On the other hand, in the robot 40 of the fourth embodiment, the first long element 21a is arranged slidably with respect to the first member 11, and the second long element 31a is slidably arranged with respect to the second member 12. are placed. That is, the first long element 21a is supported by the first member 11 so as to be displaceable in the extending direction of the first long element 21a, and the second long element 31a is displaceable in the extending direction of the second long element 31a. It is supported by the second member 12 .

The first member 11 has a first elongated member 21a that allows movement in the extending direction of the first elongated member 21a while preventing the first elongated member 21a from moving in a direction orthogonal to the extending direction of the first elongated member 21a. 1 guide 45 is provided. Further, the second member 12 allows the second long element 31a to move in the extending direction of the second long element 31a while preventing it from moving in the direction orthogonal to the extending direction of the second long element 31a. A second guide portion 46 is provided for.

The first elongated element 21a and the second elongated element 31a have a plurality of

teeth

21c, 31c arranged in the longitudinal direction. A pinion 47 that meshes with the teeth 21c of the first elongated element 21a and the teeth 31c of the second elongated element 31a is provided in the joint 13 so as to be concentric with the rotation axis 13a. The pinion 47 is freely rotatable.

The first short member 21b is provided with a first short member brake 49 for temporarily fixing the first short member 21b to the first member 11, and the second short member 31b is provided with a second short member. A second short member brake 50 is provided to temporarily fix 31b to the second member 12 . That is, the first short member brake 49 is configured to switch between a state in which the first short member 21b is fixed to the first member 11 and a state in which it is not fixed. The second short element brake 50 is configured to switch between a state in which the second short element 31b is fixed to the second member 12 and a state in which it is not fixed.

The first long piece 21a is provided with a first long piece brake 51 for temporarily fixing the first long piece 21a to the first member 11, and the second long piece 31a is provided with a second long piece. A second elongated brake 52 is provided to temporarily fix 31 a to the second member 12 . That is, the first elongated element brake 51 is configured to switch between a state in which the first elongated element 21 a is fixed to the first member 11 and a state in which it is not fixed. The second long element brake 52 is configured to switch between a state in which the second long element 31 a is fixed to the second member 12 and a state in which it is not fixed.

The first long element brake 51 operates to fix the first long element 21 a to the first member 11 , and the first short element brake 49 does not operate so that the first short element 21 b is fixed to the first member 11 . and the second long element brake 52 is actuated to fix the second long element 31a to the second member 12, and the second short element brake 50 is not actuated so that the second short element 31a is fixed to the second member 12. When the scale 31b is not fixed to the second member 12, the robot 40 of the fourth embodiment performs the same motion as the robot 40 of the third embodiment. Therefore, when the first short element 21b and the second short element 31b slide away from the joint 13, the second member 12 slides relative to the first member 11 as shown in FIGS. 8A and 8B. A relative pivotal movement between the first member 11 and the second member 12 occurs in the bending direction.

In the state shown in FIG. 8A, when the first short element brake 49 operates and the second short element brake 50 operates, the first long element brake 51 and the second long element brake 52 are switched to a non-operating state. , the first short element 21b is fixed to the first member 11, the second short element 31b is fixed to the second member 12, and the first long element 21a and the second long element 31a are slidable. becomes possible. In this state, when power is supplied to the first linear motion motor 21 and the second linear motion motor 31, the first long member 21a slides relative to the first short member 21b and the first member 11, The second long element 31 a slides relative to the second short element 31 b and the second member 12 . Along with this, a moment is generated in the first member 11 and the second member 12 via the link member 42 to rotate around the joint portion 13 . For example, when the first long element 21a and the second long element 31a slide toward the joint portion 13 (the pinion 47 side), a force that presses the second short element 31b against the link member 42 acts. Therefore, as the reaction force, a force including a component that pushes the second long element 31a downward in FIG. 8A is generated. Therefore, the second member 12 rotates clockwise from the state shown in FIG. 8A. As a result, the robot 40 is in the state shown in FIG. At this time, since the first long element 21a and the second long element 31a are slid with respect to the state shown in FIG. 8A, the movement range of the first short element 21b and the second short element 31b is widened.

Therefore, in the fourth embodiment, the movement range of the first short element 21b can be widened by sliding the first long element 21a in the longitudinal direction and sliding the second long element 31a in the longitudinal direction. Therefore, the relative rotation range between the first member 11 and the second member 12 can be widened.

Although descriptions of other configurations, actions and effects are omitted, the descriptions of the first to third embodiments can be incorporated into the fourth embodiment.

(Fifth embodiment)
10A-10C show a fifth embodiment. Here, the same reference numerals are given to the same components as in the first embodiment, and detailed description thereof will be omitted.

In the robot 40 of the third embodiment, the first short element 21b and the second short element 31b are connected to each other by the link member 42, and the second member is moved by sliding the first short element 21b and the second short element 31b. 12 is caused to generate a moment around the joint portion 13 . This operation is the same for the robot 60 of the fifth embodiment. Furthermore, in the robot 60 of the fifth embodiment, the rotating member 64 fixed to the second member 12 is rotated by the pinion 62 rotated by sliding the first elongated member 21a of the first direct-acting motor 21. A relative pivotal movement between the first member 11 and the second member 12 can also be produced by .

Specifically, unlike the third embodiment, the first elongated element 21a is not fixed to the first member 11, and the first elongated element 21a is attached to the first member 11 as in the fourth embodiment. It is arranged so as to be slidable in the extending direction of 21a. The first long piece 21 a is provided with a long piece brake 51 that temporarily fixes the first long piece 21 a to the first member 11 . Further, a plurality of teeth 21c arranged in the extending direction are provided on the first elongated member 21a. On the other hand, the first short member 21 b is provided with a short member brake 49 that temporarily fixes the first short member 21 b to the first member 11 .

A pinion 62 is rotatably provided on the first member 11 so as to mesh with the teeth 21c of the first elongated element 21a, and the pinion 62 rotates as the first elongated element 21a slides.

A rotating member 64 having an arc-shaped outer peripheral portion is provided in the joint portion 13 , and a tooth portion 64 a that meshes with the pinion 62 is formed on the outer peripheral portion of the rotating member 64 .

Therefore, when power is supplied to the first direct-acting motor 21 with the short element brake 49 operating and the long element brake 51 not operating, the first long element 21a slides relative to the first short element 21b. As a result, the pinion 62 rotates. At this time, it is not necessary to supply power to the second direct-acting motor 31 . When the pinion 62 rotates, the rotating member 64 rotates about the rotation axis 13 a of the joint portion 13 , so that the second member 12 rotates relative to the first member 11 . Therefore, the second member 12 can be rotated from the state of FIG. 10A to the state of FIG. 10B.

On the other hand, when power is supplied to the first direct-acting motor 21 and the second direct-acting motor 31 in a state in which the long element brake 51 is actuated and the short element brake 49 is not actuated, the first short element 21b is actuated to the first position. While sliding relative to the long element 21a, the second short element 31b slides relative to the second long element 31a. In this case, the second member 12 is rotated relative to the first member 11 based on the same principle as in the third embodiment. Therefore, the second member 12 can be rotated from the state of FIG. 10A to the state of FIG. 10C.

In the fifth embodiment, when power is supplied to the first direct-acting motor 21 with the first short element 21 b fixed to the first member 11 , the second member 12 is driven through the pinion 62 and the rotating member 64 . A moment around the joint portion 13 is generated at this point, and a relative rotational movement between the first member 11 and the second member 12 is generated. Further, when power is supplied to the first direct-acting motor 21 and the second direct-acting motor 31 in a state in which the first long element 21a is fixed to the first member 11 and the first short element 21b is not fixed, the first A moment around the joint portion 13 is generated in the second member 12 via the link member 42 due to the sliding of the short member 21b and the second short member 31b. action occurs. The first linear motion motor 21 is arranged in the first member 11 and is not accommodated in the joint portion 13, and the second linear motion motor 31 is arranged in the second member 12 and is not accommodated in the joint portion. Since it is not configured to be accommodated within 13, an increase in size of the joint portion 13 can be avoided.

Although descriptions of other configurations, functions and effects are omitted, the descriptions of the first and second embodiments can be incorporated into the fifth embodiment.

Here, the embodiment will be outlined.

In order to achieve the above objects, the present invention provides a first member, a second member, a joint portion that couples the first member and the second member so as to be able to rotate relative to each other, and a joint extending in one direction. a linear motion electric motor having a long member arranged on the first member and a short member movable along the long member; a link member having one end that is directly or indirectly coupled to the two members and the other end that is rotatably coupled to the short element; By moving the short member with respect to, a moment around the joint portion is generated in the second member via the link member, and a relative rotational movement between the first member and the second member It is a robot that creates

In the present invention, by supplying power to the linear motion motor having the elongated element arranged in the first member, the second member is caused to generate a moment around the joint portion via the link member, thereby causing the first and second members to move. causing a relative pivoting motion between the Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion, it is possible to cause relative rotational movement between the first member and the second member with smaller torque. Moreover, since the direct-acting motor is arranged in the first member and is not housed in the joint portion, it is possible to avoid an increase in the size of the joint portion.

A fixing member having a shape extending in one direction may be fixed to the second member. In this case, the one end of the link member may be rotatably coupled to the fixed member.

In this aspect, since the link member is rotatably coupled to the fixed member extending in one direction, it is suitable for a robot in which the second member is configured as an arm, for example.

The fixed member is composed of the second long element of the second linear motion motor having a second long element and a second short element, or is composed of a second long element fixed to the second long element. may be In this case, the second terminal has one end rotatably connected to the second short element and the other end rotatably connected to the long element or the first long element member fixed to the long element. A link member is provided, and by moving the short member along the long member by supplying power to the linear motion motor, a moment around the joint portion is generated in the second member via the link member. and moving the second short element along the second long element by supplying power to the second direct-acting motor to move the joint portion to the first member via the second link member. A rotational moment may be induced thereby causing relative pivotal movement between the first member and the second member.

In this aspect, since the linear motion motor and the second linear motion motor are used to cause the relative rotational movement between the first member and the second member, the torque of each linear motion motor can be further suppressed, The dynamic motor can be made more compact.

The timing at which the short element passes through the dead center may be set so as to deviate from the timing at which the second short element passes through the dead center.

In this aspect, the second short element is not at the dead point at the timing when the short element passes through the dead center. Also, the short element is not at the dead point at the timing when the second short element passes through the dead point. Therefore, even when the short member is at the dead center position, the rotation between the first member and the second member can be continued via the link member, and when the second short member is at the dead center position. However, the pivoting motion between the first member and the second member can be continued via the second link member. Therefore, the pivoting motion between the first member and the second member can be a series of continuous motions.

In the present invention, when power is supplied to the first linear motion motor and the second linear motion motor to slide the first short member and the second short member, the opening angle between the first member and the second member is determined by the link member. A force acts to alter the , thereby causing relative pivotal movement between the first and second members. Therefore, compared to a configuration that generates rotational torque in the vicinity of the joint portion, it is possible to generate relative rotational movement between the first member and the second member with smaller torque. Moreover, since the linear motion motor is arranged in the first member and the second linear motion motor is arranged in the second member, and the two linear motion motors are not housed in the joint portion, the joint portion is large. can also be avoided.

The robot includes a first short element brake capable of switching between a state in which the first short element is fixed to the first member and a state in which it is not fixed, and a state in which the second short element is fixed to the second member. A second short member brake capable of switching between a fixed state and a non-fixed state may be further provided. In this case, the first elongated element may be supported displaceably in the extending direction of the first elongated element, and the second elongated element may be displacedly supported in the extending direction of the second elongated element. good.

In this aspect, when the first long element slides in the longitudinal direction, the range of movement of the first short element can be expanded accordingly, and when the second long element slides in the longitudinal direction, the second short element can move accordingly. You can extend the movement range of the shakushi. Therefore, the relative rotation range between the first member and the second member can be widened.

The first elongated element and the second elongated element may have a plurality of teeth aligned in the longitudinal direction. In this case, a pinion meshing with the plurality of teeth of the first elongated element and the plurality of teeth of the second elongated element may be provided.

In this aspect, the relationship between the amount of sliding of the first long element with respect to the first member and the amount of sliding of the second long element with respect to the second member can be defined by the pinion.

In the present invention, when power is supplied to the first direct-acting motor while the first short element is fixed to the first member, a moment around the joint portion is generated in the second member via the pinion and the rotating member, causing the first A relative pivotal movement between the member and the second member occurs. Further, when the first long element is fixed to the first member and the first short element is not fixed, power is supplied to the first linear motion motor and the second linear motion motor. The sliding causes the second member to generate a moment about the joint via the link member, thereby causing relative pivotal movement between the first member and the second member. In a configuration in which the first linear motion motor is arranged in the first member and housed in the joint portion, or in which the second linear motion motor is arranged in the second member and housed in the joint portion, Therefore, it is possible to avoid an increase in the size of the joint.

As described above, it is possible to cause relative rotation between the first member and the second member with a smaller torque.

Claims

a first member;
a second member;
a joint part that couples the first member and the second member so as to be relatively rotatable;
a linear motion motor having a long element extending in one direction and arranged on the first member; and a short element movable along the long element;
a link member having one end rotatably coupled to the second member and directly or indirectly coupled to the second member and the other end rotatably coupled to the short member; prepared,
By moving the short element with respect to the long element by supplying power to the linear motion motor, a moment around the joint portion is generated in the second member via the link member, and the first member and the A robot that causes a relative pivotal movement between the second members.
The robot according to claim 1, wherein
A fixing member having a shape extending in one direction is fixed to the second member,
The robot, wherein the one end of the link member is rotatably coupled to the fixed member.
The robot according to claim 2,
The fixed member is composed of the second long element of the second linear motion motor having a second long element and a second short element, or is composed of a second long element fixed to the second long element. and
a second link member having one end rotatably coupled to the second short member and the other end rotatably coupled to the long member or the first long member fixed to the long member; provided,
By moving the short element along the long element by supplying power to the linear motion motor, a moment around the joint portion is generated in the second member via the link member, and the second By moving the second short element along the second long element by supplying power to the linear motion motor, a moment around the joint portion is generated in the first member via the second link member. , thereby causing a relative pivotal movement between said first member and said second member.
The robot according to claim 3,
The robot, wherein the timing at which the short element passes through the dead point is set so as to deviate from the timing at which the second short element passes through the dead point.
a first member;
a second member;
a joint part that couples the first member and the second member so as to be relatively rotatable;
a first elongated member having a portion extending in one direction and arranged on the first member; a first direct-acting motor having a short element;
a second long element having a portion extending along the second member; and a second short element relatively movable with respect to the second long element along the portion of the second long element. a second linear motor;
a link member having one end rotatably coupled to the first short element and the other end rotatably coupled to the second short element,
By supplying power to the first linear motion motor and the second linear motion motor, the first short member moves relative to the first long member, and the second short member moves relative to the second long member. relative movement between the first member and the second member to produce a relative pivoting motion between the first member and the second member.
The robot according to claim 5,
a first short member brake capable of switching between a state in which the first short member is fixed to the first member and a state in which it is not fixed;
a second short member brake capable of switching between a state in which the second short member is fixed to the second member and a state in which it is not fixed;
The first elongated element is supported displaceably in the extending direction of the first elongated element,
The robot, wherein the second elongated element is displaceably supported in an extending direction of the second elongated element.
The robot according to claim 6,
The first elongated element and the second elongated element have a plurality of teeth aligned in the longitudinal direction,
A robot provided with a pinion that meshes with the plurality of teeth of the first elongated element and the plurality of teeth of the second elongated element.
a first member;
a second member;
a joint part that couples the first member and the second member so as to be relatively rotatable;
a first short element disposed on the first member; a first long element having a shape elongated in one direction and having a plurality of teeth arranged in the one direction and disposed on the first member; and allowing relative movement between the first short element and the base 1 short element;
a second elongated member having a portion extending along the second member and disposed on the second member; and a second elongated member movable along the portion of the second elongated member relative to the second elongated member. a second linear motor having a second short element;
a pinion provided at the joint so as to mesh with the plurality of teeth of the first elongated element and rotated by movement of the first elongated element;
a rotating member having a tooth portion meshing with the pinion and fixed to the second member;
a link member having one end rotatably coupled to the first long element and the other end rotatably coupled to the second short element;
with
When power is supplied to the first direct-acting motor while the first short element is fixed to the first member, the first long element is moved relative to the first short element to move the pinion. and causing the second member to generate a moment around the joint portion via the rotating member, thereby generating a relative rotating motion between the first member and the second member,
When electric power is supplied to the first direct-acting motor and the second direct-acting motor in a state in which the first elongated element is fixed to the first member and the second elongated element is fixed to the second member. and moving the first short element with respect to the first long element and moving the second short element with respect to the second long element, and moving the second member around the joint portion via the link member. to create a relative pivotal motion between the first member and the second member.